Tharp/adding_global_planning_functionality #100
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…/AirStack into tharp/rand_walk_cleanup
* Updated dockerfile to copy simulation directly into docker image, updating docker compose to refer to images on server, updated documentation to reflect that you don't have to build the docker image and can just pull it * Updating docker compose to refer to images on server, updated documentation to reflect that you don't have to build the docker image and can just pull it * added environment info * Proper docker compose now * Add .gitignore for omni_pass.env file * Update with Basti's instructions * Update dockerfiles and docs * Delete deprecated simulation/ folder * use net=host * oops net=host doesn't work with dynamic robots * Fix ros2 with isaac sim. make isaac launch not by default with the main command * Change isaac to use installed ros2 humble instead of built-in one * Sadly: isaac sim REQUIRES network=host to launch from docker. Sadly, this means our robots need to also network=host and we must hardcode our docker compose * Add ROS_LOCALHOST_ONLY=1; confirmed works through docker when network=host * fix docker warnings * Change path to use ros_ws under /root/AirStack/ros_ws * Add stereo-image-proc, image-view * Add isaacsim ros2 package, add entrypoint * Change docker compose so that it just launches the containers with bash * got ascent sitl working in isaacsim * Updated, now works with with --scale and separate containers per robot - Isaac can run headless in a container - robots can run in separate containers, each with their own hostname and ROS_DOMAIN_ID - all containers live on the private docker network, isolated from host - Can connect to Isaac GUI via Omniverse Streaming client - ROS communicates properly between all the containers - connects successfully to nucleus * reverted omni_pass * Change the file to TEMPLATE so that the actual one isn't commited * updated so guis work in docker * Enable ssh into docker containers * Add docs on network * running mavros in isaacsim container, robot launch files moved to robot_bringup * Update docs * Delete deprecated central/folder, organize --------- Co-authored-by: Sebastian Scherer <[email protected]> Co-authored-by: John Keller <[email protected]>
* Update docs move robot with video * Update docs
* welcome page, boilerplate
…ng multiple paths
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Merged in #118 |
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This integrates the global planner initial architecture and uses the random walk planner for the global planner